elf: execve statically linked programs instead of crashing [BZ #28648]

Programs without dynamic dependencies and without a program
interpreter are now run via execve.

Previously, the dynamic linker either crashed while attempting to
read a non-existing dynamic segment (looking for DT_AUDIT/DT_DEPAUDIT
data), or the self-relocated in the static PIE executable crashed
because the outer dynamic linker had already applied RELRO protection.

<dl-execve.h> is needed because execve is not available in the
dynamic loader on Hurd.

Reviewed-by: H.J. Lu <hjl.tools@gmail.com>